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41 lines
2.0 KiB
41 lines
2.0 KiB
<?xml version="1.0"?> |
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<launch> |
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<!-- Posix SITL environment launch script --> |
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<!-- launches PX4 SITL, Gazebo environment, and spawns vehicle --> |
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<!-- vehicle pose --> |
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<arg name="x" default="0"/> |
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<arg name="y" default="0"/> |
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<arg name="z" default="0"/> |
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<arg name="R" default="0"/> |
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<arg name="P" default="0"/> |
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<arg name="Y" default="0"/> |
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<!-- vehicle model and world --> |
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<arg name="est" default="ekf2"/> |
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<arg name="vehicle" default="iris"/> |
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<arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/empty.world"/> |
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<arg name="sdf" default="$(find mavlink_sitl_gazebo)/models/$(arg vehicle)/$(arg vehicle).sdf"/> |
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<arg name="rcS" default="$(find px4)/posix-configs/SITL/init/$(arg est)/$(arg vehicle)"/> |
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<!-- gazebo configs --> |
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<arg name="gui" default="true"/> |
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<arg name="debug" default="false"/> |
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<arg name="verbose" default="false"/> |
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<arg name="paused" default="false"/> |
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<arg name="respawn_gazebo" default="false"/> |
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<!-- PX4 configs --> |
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<arg name="interactive" default="true"/> |
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<!-- PX4 SITL --> |
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<arg unless="$(arg interactive)" name="px4_command_arg1" value="-d"/> |
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<arg if="$(arg interactive)" name="px4_command_arg1" value=""/> |
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<node name="sitl" pkg="px4" type="px4" output="screen" args="$(find px4) $(arg rcS) $(arg px4_command_arg1)" required="true"/> |
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<!-- Gazebo sim --> |
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<include file="$(find gazebo_ros)/launch/empty_world.launch"> |
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<arg name="gui" value="$(arg gui)"/> |
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<arg name="world_name" value="$(arg world)"/> |
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<arg name="debug" value="$(arg debug)"/> |
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<arg name="verbose" value="$(arg verbose)"/> |
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<arg name="paused" value="$(arg paused)"/> |
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<arg name="respawn_gazebo" value="$(arg respawn_gazebo)"/> |
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</include> |
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<!-- gazebo model --> |
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<node name="$(anon vehicle_spawn)" pkg="gazebo_ros" type="spawn_model" output="screen" args="-sdf -file $(arg sdf) -model $(arg vehicle) -x $(arg x) -y $(arg y) -z $(arg z) -R $(arg R) -P $(arg P) -Y $(arg Y)"/> |
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</launch>
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